Title :
A vision-based autonomous lane following system for a mobile robot
Author :
Huang, Xia ; Houshangi, Nasser
Author_Institution :
Dept. of Electr. & Comput. Eng., Purdue Univ. Calumet, Hammond, IN, USA
Abstract :
In this paper, a vision-based autonomous lane following system for a mobile robot is presented. To achieve the autonomous lane following, the lane images are obtained in real time using a camera fixed mounted on the robot. Lane position is presented based on lane boundary pixel extractor (LBPE) and Hough transform in the image coordinate frame, and transformed to the mobile robot coordinate frame using photogrammetric techniques. The visibility of the lane information is checked by the lane width constraints and its parallel property. Path planning of the mobile robot is performed based on mobile robot´s position and orientation with respect to the lanes obtained from the vision information. Experimental results demonstrated the feasibility of the approach.
Keywords :
feature extraction; mobile robots; path planning; robot vision; Hough transform; image coordinate frame; lane boundary pixel extractor; lane position; lane width constraints; mobile robot coordinate frame; parallel property; path planning; photogrammetric techniques; vision-based autonomous lane following system; Calibration; Cameras; Cybernetics; Data mining; Mobile robots; Navigation; Robot kinematics; Robot vision systems; USA Councils; Vehicles; Camera Calibration; Lane Following; Mobile Robot; Vision;
Conference_Titel :
Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
978-1-4244-2793-2
Electronic_ISBN :
1062-922X
DOI :
10.1109/ICSMC.2009.5346373